# Launch the node

Launch the camera node (assuming you are in `~/colcon_ws/`):
```
$ source install/setup.bash
$ ros2 launch ifm3d_ros2 camera.launch.py
```

This will launch the `/ifm3d/camera/` node with default arguments, using the default YAML configuration file `camera_default_parameters.yaml`. Depending on the specified `pcic_port`, the node will initialize either a 3D camera (if the port corresponds to a 3D camera) or a 2D camera.

The respective node information should look like this: 

```
$ ros2 node info /ifm3d/camera

/ifm3d/camera
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /diagnostics: diagnostic_msgs/msg/DiagnosticArray
    /ifm3d/camera/INTRINSIC_CALIB: ifm3d_ros2/msg/Intrinsics
    /ifm3d/camera/INVERSE_INTRINSIC_CALIBRATION: ifm3d_ros2/msg/InverseIntrinsics
    /ifm3d/camera/RGB_INFO: ifm3d_ros2/msg/RGBInfo
    /ifm3d/camera/TOF_INFO: ifm3d_ros2/msg/TOFInfo
    /ifm3d/camera/amplitude: sensor_msgs/msg/Image
    /ifm3d/camera/camera_info: sensor_msgs/msg/CameraInfo
    /ifm3d/camera/cloud: sensor_msgs/msg/PointCloud2
    /ifm3d/camera/confidence: sensor_msgs/msg/Image
    /ifm3d/camera/distance: sensor_msgs/msg/Image
    /ifm3d/camera/extrinsics: ifm3d_ros2/msg/Extrinsics
    /ifm3d/camera/rgb: sensor_msgs/msg/CompressedImage
    /ifm3d/camera/transition_event: lifecycle_msgs/msg/TransitionEvent
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /tf_static: tf2_msgs/msg/TFMessage
  Service Servers:
    /ifm3d/camera/Config: ifm3d_ros2/srv/Config
    /ifm3d/camera/Dump: ifm3d_ros2/srv/Dump
    /ifm3d/camera/Softoff: ifm3d_ros2/srv/Softoff
    /ifm3d/camera/Softon: ifm3d_ros2/srv/Softon
    /ifm3d/camera/change_state: lifecycle_msgs/srv/ChangeState
    /ifm3d/camera/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /ifm3d/camera/get_available_states: lifecycle_msgs/srv/GetAvailableStates
    /ifm3d/camera/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
    /ifm3d/camera/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /ifm3d/camera/get_parameters: rcl_interfaces/srv/GetParameters
    /ifm3d/camera/get_state: lifecycle_msgs/srv/GetState
    /ifm3d/camera/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
    /ifm3d/camera/list_parameters: rcl_interfaces/srv/ListParameters
    /ifm3d/camera/set_parameters: rcl_interfaces/srv/SetParameters
    /ifm3d/camera/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

```

:::{note}
We also provide a helper launch file to start multiple camera nodes. See the documentation [here](multi_head.md).
:::

To visualize the data with RViz, set the `visualization` argument of the launch script to `true`:
```
$ ros2 launch ifm3d_ros2 camera.launch.py visualization:=true
```


![rviz1](./figures/O3R_merged_point_cloud.png)

Congratulations! You can now have complete control over the O3R perception platform from inside ROS2.